Object Dictionary
CANopen Protocol
μCAN.8.dio-BOX
MicroControl Version 2.00
Page
54
8
Global Interrupt
Index 6005h
The object at index 6005h enables and disables globally the in-
terrupt behaviour without changing the interrupt masks.
Sub-Index
Data Type
Acc.
Name
Default Value
0
Unsigned8
ro
Largest Sub-Index
01h
1
Unsigned8
rw
Global Interrupt
FFh
Only sub-indices 0 and 1 are supported. An access to other sub-
indices will lead to an error message.
The default value of FFh enables transmission of a PDO for each
digital input. Each bit corresponds to a digital input. Setting a va-
lue of ’0’ will disable the transmissions of a PDO.
The object is used in combination with the objects at index
6006h,
Note
6007h and 6008h.
Interrupt Mask
Index 6006h
The object at index 6006h determines, which input port lines
shall activate an interrupt by positive or/and negative edge de-
tection.
Sub-Index
Data Type
Acc.
Name
Default Value
0
Unsigned8
ro
Largest Sub-Index
01h
1
Unsigned8
rw
Interrupt Any Change
FFh
Only sub-indices 0 and 1 are supported. An access to other sub-
indices will lead to an error message.
Each bit corresponds to a digital input. A value of ’0’ means the
interrupt is disabled.
